{"id":329,"date":"2012-05-15T10:54:52","date_gmt":"2012-05-15T08:54:52","guid":{"rendered":"http:\/\/www.mpateraki.org\/?p=329"},"modified":"2015-01-27T11:30:33","modified_gmt":"2015-01-27T09:30:33","slug":"using-dempsters-rule-of-combination-to-robustly-estimate-pointed-targets","status":"publish","type":"post","link":"https:\/\/mpateraki.org\/?p=329","title":{"rendered":"Using Dempster\u2019s rule of combination to robustly estimate pointed targets"},"content":{"rendered":"<p><strong>Pateraki M.<\/strong>, Baltzakis H., Trahanias P., 2012. Using Dempster\u2019s rule of combination to robustly estimate pointed targets. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 14-18 May, St. Paul, Minnesota, USA. [<a href=\"http:\/\/dx.doi.org\/10.1109\/ICRA.2012.6224870\" target=\"_blank\">doi<\/a>] [<a href=\"http:\/\/ieeexplore.ieee.org\/stamp\/stamp.jsp?tp=&amp;arnumber=6224870\" target=\"_blank\">pdf<\/a>] [<a href=\"http:\/\/www.mpateraki.org\/wp-content\/uploads\/2014\/11\/pateraki_icra12.txt\" target=\"_blank\">bib<\/a>]<\/p>\n<p>Abstract:<\/p>\n<p>In this paper we address an important issue in human-robot interaction, that of accurately deriving pointing information from a corresponding gesture. Based on the fact that in most applications it is the pointed object rather than the actual pointing direction which is important, we formulate a novel approach which takes into account prior information about the location of possible pointing targets. To decide about the pointed object, the proposed approach uses the Dempster-Shafer theory of evidence to fuse information from two different input streams: head pose, estimated by visually tracking the off-plane rotations of the face, and hand pointing orientation. Detailed experimental results are presented that validate the effectiveness of the method in realistic application setups.<\/p>\n<table align=\"center\">\n<tbody align=\"center\">\n<tr align=\"center\">\n<td align=\"center\" width=\"33%\"><a href=\"http:\/\/www.mpateraki.org\/wp-content\/uploads\/2012\/05\/ds-fuse.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-334 size-medium\" src=\"http:\/\/www.mpateraki.org\/wp-content\/uploads\/2012\/05\/ds-fuse-300x242.jpg\" alt=\"\" width=\"300\" height=\"242\" srcset=\"https:\/\/mpateraki.org\/wp-content\/uploads\/2012\/05\/ds-fuse-300x242.jpg 300w, https:\/\/mpateraki.org\/wp-content\/uploads\/2012\/05\/ds-fuse.jpg 771w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/a><\/td>\n<td align=\"center\" width=\"33%\"><a href=\"http:\/\/www.mpateraki.org\/wp-content\/uploads\/2012\/05\/04_image_56_point_head.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-332 size-medium\" src=\"http:\/\/www.mpateraki.org\/wp-content\/uploads\/2012\/05\/04_image_56_point_head-300x225.jpg\" alt=\"\" width=\"300\" height=\"225\" srcset=\"https:\/\/mpateraki.org\/wp-content\/uploads\/2012\/05\/04_image_56_point_head-300x225.jpg 300w, https:\/\/mpateraki.org\/wp-content\/uploads\/2012\/05\/04_image_56_point_head.jpg 320w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/a><\/td>\n<td align=\"center\" width=\"33%\"><a href=\"http:\/\/www.mpateraki.org\/wp-content\/uploads\/2012\/05\/04_image_156_point_head.jpg\"><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-333 size-medium\" src=\"http:\/\/www.mpateraki.org\/wp-content\/uploads\/2012\/05\/04_image_156_point_head-300x225.jpg\" alt=\"\" width=\"300\" height=\"225\" srcset=\"https:\/\/mpateraki.org\/wp-content\/uploads\/2012\/05\/04_image_156_point_head-300x225.jpg 300w, https:\/\/mpateraki.org\/wp-content\/uploads\/2012\/05\/04_image_156_point_head.jpg 320w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/a><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n","protected":false},"excerpt":{"rendered":"<p>Pateraki M., Baltzakis H., Trahanias P., 2012. Using Dempster\u2019s rule of combination to robustly estimate pointed targets. In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 14-18 May, St. Paul, Minnesota, USA. [doi] [pdf] [bib] Abstract: In this paper we address an important issue in human-robot interaction, that of accurately deriving pointing [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":332,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3],"tags":[],"class_list":["post-329","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-publications"],"_links":{"self":[{"href":"https:\/\/mpateraki.org\/index.php?rest_route=\/wp\/v2\/posts\/329","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mpateraki.org\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/mpateraki.org\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/mpateraki.org\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/mpateraki.org\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=329"}],"version-history":[{"count":3,"href":"https:\/\/mpateraki.org\/index.php?rest_route=\/wp\/v2\/posts\/329\/revisions"}],"predecessor-version":[{"id":335,"href":"https:\/\/mpateraki.org\/index.php?rest_route=\/wp\/v2\/posts\/329\/revisions\/335"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/mpateraki.org\/index.php?rest_route=\/wp\/v2\/media\/332"}],"wp:attachment":[{"href":"https:\/\/mpateraki.org\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=329"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/mpateraki.org\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=329"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/mpateraki.org\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=329"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}